
from ..utils import is_flax_available, is_torch_available


if is_torch_available():
							from .autoencoder_kl import AutoencoderKL
							from .controlnet import ControlNetModel
							from .dual_transformer_ad import DualTransformeraDModel
							from .modeling_utils import ModelMixin
							from .prior_transformer import PriorTransformer
							from .ta_film_transformer import TaFilmDecoder
							from .transformer_ad import TransformeraDModel
							from .unet_ad import UNetaDModel
							from .unet_ad import UNetaDModel
							from .unet_ad_condition import UNetaDConditionModel
							from .unet_ad_condition import UNetaDConditionModel
							from .vq_model import VQModel

if is_flax_available():
							from .controlnet_flax import FlaxControlNetModel
							from .unet_ad_condition_flax import FlaxUNetaDConditionModel
							from .vae_flax import FlaxAutoencoderKL








import heapq
import sys

import numpy as np

lowerCamelCase_    :			Optional[Any]    =	tuple[int, int]

class 							_UpperCamelCase					:






			'''simple docstring'''

			def __init__(							self			:							Any   ):
							UpperCamelCase_:				Union[str, Any]						=    []
							UpperCamelCase_:				str						=    set()

			def    lowerCAmelCase__						(							self			:							List[Any]   ):
							if not self.empty():
											return self.elements[0][0]
							else:
											return float("""inf"""   )

			def    lowerCAmelCase__						(							self			:							List[Any]   ):
							return len(self.elements   ) == 0

			def    lowerCAmelCase__						(							self			:							Union[str, Any]    ,						snake_case_			:							int    ,						snake_case_			:							Dict   ):
							if item not in self.set:
											heapq.heappush(self.elements    ,						(priority, item)   )
											self.set.add(snake_case_   )
							else:
											# update
											# print("update", item)
											UpperCamelCase_:				Any						=    []
											((UpperCamelCase_), (UpperCamelCase_)):				Any						=    heapq.heappop(self.elements   )
											while x != item:
															temp.append((pri, x)   )
															((UpperCamelCase_), (UpperCamelCase_)):				str						=    heapq.heappop(self.elements   )
											temp.append((priority, item)   )
											for pro, xxx in temp:
															heapq.heappush(self.elements    ,						(pro, xxx)   )

			def    lowerCAmelCase__						(							self			:							Union[str, Any]    ,						snake_case_			:							Union[str, Any]   ):
							if item in self.set:
											self.set.remove(snake_case_   )
											UpperCamelCase_:				Dict						=    []
											((UpperCamelCase_), (UpperCamelCase_)):				Tuple						=    heapq.heappop(self.elements   )
											while x != item:
															temp.append((pro, x)   )
															((UpperCamelCase_), (UpperCamelCase_)):				Any						=    heapq.heappop(self.elements   )
											for prito, yyy in temp:
															heapq.heappush(self.elements    ,						(prito, yyy)   )

			def    lowerCAmelCase__						(							self			:							Optional[int]   ):
							return self.elements[0][1]




			def    lowerCAmelCase__						(							self			:							List[str]   ):
							((UpperCamelCase_), (UpperCamelCase_)):				Any						=    heapq.heappop(self.elements   )
							self.set.remove(snake_case_   )
							return (priority, item)







def 							A__       (    lowerCamelCase  ,     lowerCamelCase    )	->						str:
				# euclidean distance
				UpperCamelCase_:				Any						=    np.array(lowerCamelCase    )
				UpperCamelCase_:				Tuple						=    np.array(lowerCamelCase    )
				return np.linalg.norm(a - b    )







def 							A__       (    lowerCamelCase  ,     lowerCamelCase    )	->						List[str]:
				# integer division by time variable
				return consistent_heuristic(lowerCamelCase  ,     lowerCamelCase    ) // t







def 							A__       (    lowerCamelCase  ,     lowerCamelCase    )	->						Optional[Any]:
				# manhattan distance
				return abs(p[0] - goal[0]    ) + abs(p[1] - goal[1]    )







def 							A__       (    lowerCamelCase  ,     lowerCamelCase  ,     lowerCamelCase  ,     lowerCamelCase    )	->						Optional[int]:
				UpperCamelCase_:				Dict						=    g_function[start] + Wa * heuristics[i](lowerCamelCase  ,     lowerCamelCase    )
				return ans







def 							A__       (    lowerCamelCase  ,     lowerCamelCase  ,     lowerCamelCase    )	->						List[str]:
				UpperCamelCase_:				Any						=    np.chararray((n, n)    )
				for i in range(lowerCamelCase    ):
								for j in range(lowerCamelCase    ):
												UpperCamelCase_:				List[str]						=    """*"""

				for i in range(lowerCamelCase    ):
								for j in range(lowerCamelCase    ):
												if (j, (n - 1) - i) in blocks:
																UpperCamelCase_:				List[str]						=    """#"""

				UpperCamelCase_:				int						=    """-"""
				UpperCamelCase_:				Tuple						=    back_pointer[goal]
				while x != start:
								((UpperCamelCase_), (UpperCamelCase_)):				List[str]						=    x
								# print(x)
								UpperCamelCase_:				List[Any]						=    """-"""
								UpperCamelCase_:				List[str]						=    back_pointer[x]
				UpperCamelCase_:				Optional[Any]						=    """-"""

				for i in range(lowerCamelCase    ):
								for j in range(lowerCamelCase    ):
												if (i, j) == (0, n - 1):
																print(grid[i][j]  ,     end=""" """    )
																print("""<-- End position"""  ,     end=""" """    )
												else:
																print(grid[i][j]  ,     end=""" """    )
								print()
				print("""^"""    )
				print("""Start position"""    )
				print()
				print("""# is an obstacle"""    )
				print("""- is the path taken by algorithm"""    )
				print("""PATH TAKEN BY THE ALGORITHM IS:-"""    )
				UpperCamelCase_:				Optional[Any]						=    back_pointer[goal]
				while x != start:
								print(lowerCamelCase  ,     end=""" """    )
								UpperCamelCase_:				Any						=    back_pointer[x]
				print(lowerCamelCase    )
				sys.exit()







def 							A__       (    lowerCamelCase    )	->						Optional[Any]:
				if p[0] < 0 or p[0] > n - 1:
								return False
				if p[1] < 0 or p[1] > n - 1:
								return False
				return True







def 							A__       (    lowerCamelCase  ,     lowerCamelCase  ,     lowerCamelCase  ,     lowerCamelCase  ,     lowerCamelCase  ,     lowerCamelCase  ,     lowerCamelCase  ,     lowerCamelCase  ,     )	->						Any:
				for itera in range(lowerCamelCase    ):
								open_list[itera].remove_element(lowerCamelCase    )
				# print("s", s)
				# print("j", j)
				((UpperCamelCase_), (UpperCamelCase_)):				Optional[Any]						=    s
				UpperCamelCase_:				Dict						=    (x - 1, y)
				UpperCamelCase_:				Dict						=    (x + 1, y)
				UpperCamelCase_:				Any						=    (x, y + 1)
				UpperCamelCase_:				Union[str, Any]						=    (x, y - 1)

				for neighbours in [left, right, up, down]:
								if neighbours not in blocks:
												if valid(lowerCamelCase    ) and neighbours not in visited:
																# print("neighbour", neighbours)
																visited.add(lowerCamelCase    )
																UpperCamelCase_:				Dict						=    -1
																UpperCamelCase_:				Any						=    float("""inf"""    )

												if valid(lowerCamelCase    ) and g_function[neighbours] > g_function[s] + 1:
																UpperCamelCase_:				int						=    g_function[s] + 1
																UpperCamelCase_:				str						=    s
																if neighbours not in close_list_anchor:
																				open_list[0].put(lowerCamelCase  ,     key(lowerCamelCase  ,     0  ,     lowerCamelCase  ,     lowerCamelCase    )    )
																				if neighbours not in close_list_inad:
																								for var in range(1  ,     lowerCamelCase    ):
																												if key(lowerCamelCase  ,     lowerCamelCase  ,     lowerCamelCase  ,     lowerCamelCase    ) <= Wa * key(
																												    lowerCamelCase  ,     0  ,     lowerCamelCase  ,     lowerCamelCase    ):
																																open_list[j].put(
																																    lowerCamelCase  ,     key(lowerCamelCase  ,     lowerCamelCase  ,     lowerCamelCase  ,     lowerCamelCase    )    )







def 							A__       (    )	->						int:
				UpperCamelCase_:				List[Any]						=    []
				for x in range(1  ,     5    ):
								for y in range(1  ,     6    ):
												some_list.append((x, y)    )

				for x in range(15  ,     20    ):
								some_list.append((x, 17)    )

				for x in range(10  ,     19    ):
								for y in range(1  ,     15    ):
												some_list.append((x, y)    )

    # L block
				for x in range(1  ,     4    ):
								for y in range(12  ,     19    ):
												some_list.append((x, y)    )
				for x in range(3  ,     13    ):
								for y in range(16  ,     19    ):
												some_list.append((x, y)    )
				return some_list


lowerCamelCase_    :			int    =	{0: consistent_heuristic, 1: heuristic_a, 2: heuristic_a}

lowerCamelCase_    :			List[str]    =	[
    (0, 1),
    (1, 1),
    (2, 1),
    (3, 1),
    (4, 1),
    (5, 1),
    (6, 1),
    (7, 1),
    (8, 1),
    (9, 1),
    (10, 1),
    (11, 1),
    (12, 1),
    (13, 1),
    (14, 1),
    (15, 1),
    (16, 1),
    (17, 1),
    (18, 1),
    (19, 1),
]
lowerCamelCase_    :			int    =	make_common_ground()


lowerCamelCase_    :			List[Any]    =	blocks_blk
# hyper parameters
lowerCamelCase_    :			Dict    =	1
lowerCamelCase_    :			Union[str, Any]    =	1
lowerCamelCase_    :			str    =	20
lowerCamelCase_    :			Any    =	3  # one consistent and two other inconsistent

# start and end destination
lowerCamelCase_    :			Optional[Any]    =	(0, 0)
lowerCamelCase_    :			int    =	(n - 1, n - 1)

lowerCamelCase_    :			Optional[Any]    =	1







def 							A__       (    lowerCamelCase  ,     lowerCamelCase  ,     lowerCamelCase    )	->						Optional[int]:
				UpperCamelCase_:				List[str]						=    {start: 0, goal: float("""inf"""    )}
				UpperCamelCase_:				Dict						=    {start: -1, goal: -1}
				UpperCamelCase_:				Any						=    []
				UpperCamelCase_:				List[str]						=    set()

				for i in range(lowerCamelCase    ):
								open_list.append(PriorityQueue()    )
								open_list[i].put(lowerCamelCase  ,     key(lowerCamelCase  ,     lowerCamelCase  ,     lowerCamelCase  ,     lowerCamelCase    )    )

				UpperCamelCase_:				list[int]						=    []
				UpperCamelCase_:				list[int]						=    []
				while open_list[0].minkey() < float("""inf"""    ):
								for i in range(1  ,     lowerCamelCase    ):
												# print(open_list[0].minkey(), open_list[i].minkey())
												if open_list[i].minkey() <= Wa * open_list[0].minkey():
																global t
																t += 1
																if g_function[goal] <= open_list[i].minkey():
																				if g_function[goal] < float("""inf"""    ):
																								do_something(lowerCamelCase  ,     lowerCamelCase  ,     lowerCamelCase    )
																else:
																				UpperCamelCase_, UpperCamelCase_:				Any						=    open_list[i].top_show()
																				visited.add(lowerCamelCase    )
																				expand_state(
																				    lowerCamelCase  ,     lowerCamelCase  ,     lowerCamelCase  ,     lowerCamelCase  ,     lowerCamelCase  ,     lowerCamelCase  ,     lowerCamelCase  ,     lowerCamelCase  ,     )
																				close_list_inad.append(lowerCamelCase    )
												else:
																if g_function[goal] <= open_list[0].minkey():
																				if g_function[goal] < float("""inf"""    ):
																								do_something(lowerCamelCase  ,     lowerCamelCase  ,     lowerCamelCase    )
																else:
																				UpperCamelCase_:				Dict						=    open_list[0].top_show()
																				visited.add(lowerCamelCase    )
																				expand_state(
																				    lowerCamelCase  ,     0  ,     lowerCamelCase  ,     lowerCamelCase  ,     lowerCamelCase  ,     lowerCamelCase  ,     lowerCamelCase  ,     lowerCamelCase  ,     )
																				close_list_anchor.append(lowerCamelCase    )
				print("""No path found to goal"""    )
				print()
				for i in range(n - 1  ,     -1  ,     -1    ):
								for j in range(lowerCamelCase    ):
												if (j, i) in blocks:
																print("""#"""  ,     end=""" """    )
												elif (j, i) in back_pointer:
																if (j, i) == (n - 1, n - 1):
																				print("""*"""  ,     end=""" """    )
																else:
																				print("""-"""  ,     end=""" """    )
												else:
																print("""*"""  ,     end=""" """    )
												if (j, i) == (n - 1, n - 1):
																print("""<-- End position"""  ,     end=""" """    )
								print()
				print("""^"""    )
				print("""Start position"""    )
				print()
				print("""# is an obstacle"""    )
				print("""- is the path taken by algorithm"""    )


if __name__ == "__main__":
							multi_a_star(start, goal, n_heuristic)






